❤️ HeartOfPi ❤️

About

Interface for communication between Bluetooth Serial, USB Serial, and Server.

Why the name

The Raspberry Pi gives life to the robot by interfacing between different devices, allowing it to move. Why not call it the brain? Cause it doesn't sound as cool as HeartOfPi

Installation Guide

This is the steps that I took to get everything working. Note: You can use the monitor/keyboard/mouse that the lab provides but I feel it's unnecessary as everything can be done remotely so why not

Download the latest 32-bit (picamera does not work on 64-bit) version of Raspberry Pi OS from Raspberry Pi Website. In my case, I downloaded 2022-09-22-raspios-bullseye-armhf.img.xz
Extract the .img.xz file from the archive that you've downloaded to obtain the .img file
Use an imager tool from your respective OSes to flash the .img file onto the SD card. In my case, I use Linux (not arch btw) so I used dd to image the SD card.
```
 sudo dd if=2022-09-22-raspios-bullseye-armhf.img of=/dev/mmcblk0 bs=4M conv=fsync status=progress
```
After imaging, the SD card will have 2 partitions (WinOS users will not see rootfs. Do use MacOS or Linux in this step)
```
 rootfs
 boot
```

Drag the following files into the 2 partitions

Note: DO NOT BLINDLY RUN first.sh AND second.sh. LOOK THROUGH BEFORE RUNNING
Reference for userconf and wpa_supplicant.conf is available on Raspberry Pi's own Documentation

 rootfs/home/pi
     - first.sh                  # Script for setup. EDIT THE TEAM NUMBER AND IP ADDRESSES BEFORE RUNNING THIS SCRIPT.
     - second.sh                 # Script for setup. EDIT THE DHCP IP ADDRESSES BEFORE RUNNING THIS SCRIPT. BEWARE THAT THIS SCRIPT WILL ENABLE AP MODE FOR RASPBERRY PI AND THIS WILL DISABLE THE ONBOARD WIFI.
     - wallpaper.png             # Very important to have shrek as our team's lucky charm
 boot
     - SSH                       # Leave this as an empty file. Needed to enable SSH at first boot
     - userconf                  # Configured with user:pass as pi:raspberry.
     - wpa_supplicant.conf       # EDIT YOUR SSID AND PSK INTO THIS FILE

Remove the SD card from your workstation and insert it into the Raspberry Pi
Power up the Raspberry Pi
Find the IP address of the Raspberry Pi. I used nmap to find the IP address
```
 sudo nmap -sn <IP-ADDR>/<CIDR>
```
SSH into the Raspberry Pi with username pi and password raspberry
```
 ssh pi@<IP-ADDR>
```
After logging in, execute first.sh to set up all the dependencies. The script will reboot the Raspberry Pi automatically. Beware that sudo apt update && sudo apt upgrade -y will take a long time.
```
sudo chmod +x first.sh second.sh    # You may need to execute this command to allow execution for first.sh and second.sh
./first.sh
```
Once the Raspberry Pi reboots, you are able to access the Raspberry Pi using VNC Viewer. Enter the IP address of Raspberry Pi and connect using the username and password mentioned above
Execute second.sh. PLEASE INSTALL ALL DEPENDENCIES BEFORE DOING THIS AS YOU WILL NEED AN ETHERNET CABLE AFTER RUNNING THIS SCRIPT TO INSTALL ANYTHING FROM THE INTERNET
```
./second.sh
```
After the Raspberry Pi reboots after the execution of second.sh, you should be able to see the AP and Bluetooth set up. To access VNC, you will use the static IP address set on first.sh

Quality of Life

I have included functions that may/may not improve usability of the Raspberry Pi

Service	Port	Function
SSH	22	For headless opeartions
VNC	5900	For GUI without connecting to a physical display
Samba	445	File sharing, easy to drag/drop files onto the Raspberry Pi
HTTP	80	For Checklist
figlet	-	ASCII art for terminal, just for the coolness factor

Also, first.sh and second.sh scripts are a QoL on its own. If you screw up your Raspberry Pi OS and want a clean slate, you can start from scratch without manually doing the setup :)

Functions

The main functions for each file are:

client.py       # A Client Class that contains function to send/receive data from a Server through sockets
connSerial.py   # A Serial Class that contains function to send/receive data via USB serial / Bluetooth Serial
mdpRobot.py     # A Robot Class that keeps track of (x-axis, y-axis, orientation) of the robot. 
rpi_main.py     # Main application; i.e., run from here
str2list.py     # Function to convert a type(String) to a type(List)
take_pic.py     # Function to capture image on the Raspberry Pi and transmit it to a server for image processing
translator.py   # Function to translate data between Bluetooth Device, Microcontroller, and Server
wlan.py         # Function to send/receive data via sockets (using client.py)
myLED.py        # Control GPIO LEDs. This is a for fun feature and is NOT NEEDED

Requirements from different devices

These are the requirements needed from the respective devices in order to use this interface:

Bluetooth Serial:

To transmit:
---------------
START/EXPLORE/{POS}/{DATA}  # Module listens to this command to start Task #01
                            # POS contains (R, x-axis, y-axis, orientation)
                            # DATA contains obstacle data (obs_num, x-axis, y-axis, orientation)

START/SIMULATOR/{POS}/{DATA}# Module listens to this command to just send obstacle data to PC. NO EXECUTION ON THE ROBOT IS DONE
START/PATH                  # Module listens to this command to start Task #02
MOVE/{DIR}                  # Module listens to this command to move in the direction that is in the command 
CUSTOMMOVE/{DIR}/{DIST}     # Module listens to this command to move in STRAIGHT direction with a custom distance
CUSTOMTURN/{DIR}/{DEG}      # Module listens to this command to ROTATE with a custom angle
BULLSEYE                    # Module listens to this command to clear checklist A.5

To Receive:
---------------
STATUS/Ready to start       # Sends everytime it listens for Bluetooth Commands
FINISH/EXPLORE              # Sends after Task #01
FINISH/PATH                 # Sends after Task #02
ROBOT/{X}/{Y}/{ORI}         # Sends the x-axis, y-axis, and orientation of the robot after each move.
TARGET/{idx}/{result}       # Sends the Target ID with its corresponding image encoded value
STOP                        # Stops all movement (not implemented yet)

USB Serial:

To transmit:
---------------
Movement Done!                              # Module listens to this command to signify that the Microcontroller has completed a move

To Receive:
---------------
# E.G., \0x01\0x00\0x00\0x00\0x00\0x00\0x00\0x00\0x0A\0x00\ (Move forward 1 step)
10-byte data with 0x01 or 0x02 at 1st byte  # Sends to tell Microcontroller to move forward/backwards, with x-axis and y-axis encoded

# E.G., \0x03\0x00\0x00\0x00\0x5A\0x00\ (Turn left 90 degree)
6-byte data with 0x03 - 0x06 at 1st byte    # Sends to tell Microcontroller to rotate, with angle encoded

Server:

To transmit:
---------------
[['w030'], ['e090'], ['w050'], ['p000']]    # Module listens to this output from Server to start moving the Robot

To Receive:
---------------
[[85, 95, 90, 1], [125, 135, -90, 2]]       # Sends to the server for the server to compute the path

Example of how it works (Long read, but important)

The module will start by checking whether the following connections are up
a. Bluetooth Serial
b. USB Serial
c. Server (Socket)
Once all connections are up, sends STATUS/Ready to start to Bluetooth Device and listens for a command from Bluetooth Device
Bluetooth Device sends START/EXPLORE/(R,04,03,0)/(00,08,10,90)/(01,12,06,-90) to module
Module will do the following to convert the data into something that the server can process:
a. Split the command received and check the first command START
b. Checks the next command EXPLORE
c. Updates the current Robot Coordinates (R,04,03,0)
d. Translates the remaining obstacle data from (00,08,10,90)/(01,12,06,-90) to [[85, 95, 90, 1], [125, 135, -90, 2]]
Send the converted data [[85, 95, 90, 1], [125, 135, -90, 2]] to Server
Server will return [[3, 2, 1], ['w030'], ['e090'], ['w050'], ['p000']]
Module will then convert the data into something that the microcontroller can process:
a. Split the command received and this data [3, 2, 1] contains the order that the robot will move (obs 3, obs 2, then obs 1 in this case)
b. Take in the next command [w030] and converts it to \0x01\0x00\0x00\0x00\0x00\0x00\0x00\0x00\0x1E\0x00\, then sends the command to the microcontroller
c. After microcontroller moves, it sends back Move completed!
d. Update Bluetooth Device with coordinates ROBOT/{X}/{Y}/{ORI}
e. Repeat steps b - d
f. If step b contains a command with [p000], will initiate photo taking take_pic.py and it returns the result with image encoded value
g. Update Bluetooth Device with image encoded value TARGET/{idx}/{result}
h. Repeat steps till end of command
Return to Step 02

Baby-McBabyFace / HeartOfPi

❤️ HeartOfPi ❤️

About

Why the name

Installation Guide

Quality of Life

Functions

Requirements from different devices

Bluetooth Serial:

USB Serial:

Server:

Example of how it works (Long read, but important)

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